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Build CV_Bridge for custom opencv build

Build opencv 4.10 with cuda support Use Docker to create build image

  • clone github

Build on docker

  • docker base cuda devel with cudnn FROM nvidia/cuda:12.6.0-cudnn-devel-ubuntu22.04
  • Install dependencies
  • Run colcon
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sudo apt install
    libboost-all-dev \
    libboost-python-dev \
    python3-dev
colcon
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colcon build --packages-up-to cv_bridge \
--cmake-args \
  -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda \
  -DCMAKE_INCLUDE_PATH=/usr/include/opencv4/

Pack to debian

patch files

patch_package.xml
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#/bin/bash

# comment libopencv-dev, python3-opencv
sed -i 's|^\([[:space:]]*\)<depend>libopencv-dev</depend>|\1<!-- <depend>libopencv-dev</depend> -->|' package.xml
sed -i 's|^\([[:space:]]*\)<depend>python3-opencv</depend>|\1<!-- <depend>python3-opencv</depend> -->|' package.xml
patch_rules.sh
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#!/bin/bash
set -e
# remove current override_dh_shlibdeps
sed -i '/^override_dh_shlibdeps:/,/^$/d' /workspace/cv_bridge/debian/rules



cat <<'EOF' >> debian/rules

override_dh_shlibdeps:
    dh_shlibdeps --dpkg-shlibdeps-params=--ignore-missing-info


override_dh_builddeb:
    dh_builddeb --destdir=/workspace/debs
EOF

echo "[✅] Successfully patched debian/rules"
patch_compat
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cat <<'EOF' > debian/compat
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EOF
add entry to changelog
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DEBEMAIL="you@example.com" DEBFULLNAME="Your Name" dch \
  --newversion 3.2.1-1jammy-cv410 \
  --distribution jammy \
  --urgency high \
  "build against opencv4.10"

dch command

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sudo apt install devscripts